Understanding EKF2 params

#1

Hello,
I try to tune estimation of position and i have some doubts how to change priority of sensors,
Question is following if it is right :if i want to give priority to GPS altitude insthead of barometer i need to increase paramater EKF2_BARO_NOISE and reduce the value of EKF2_BARO_GATE, and if same logic can be applied to XY positionning when i have more accurate Vision measurements and i need to reduce the “weight” of GPS measurements?

1 Like
#2

Hi,
EKF2 does not use both the altitude of the baro and GPS at once, but only one of them (configured by EKF2_HGT_MODE).
The gate parameters does not change the weight of a sensor but how soon the EKF should reject a measurement.